Diff: main.cpp

Revision:

3:f3796683b4c9

Parent:

2:39cdefe3c9f2

Child:

4:3c677edffb13

--- a/main.cpp	Tue Nov 30 14:42:07 2010 +0000
+++ b/main.cpp	Sun May 06 05:14:30 2012 +0000
@@ -1,122 +1,26 @@
-
-/*
- * LSM303DLH Test program
- * @tosihisa
- */
 
 #include "mbed.h"
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
-Serial debug(USBTX,USBRX);
-
-I2C LSM303DLH(p28, p27);
-
-const int addr_acc = 0x30;
-const int addr_mag = 0x3c;
-
-enum REG_ADDRS {
-    /* --- Mag --- */
-    CRA_REG_M   = 0x00,
-    CRB_REG_M   = 0x01,
-    MR_REG_M    = 0x02,
-    OUT_X_M     = 0x03,
-    OUT_Y_M     = 0x05,
-    OUT_Z_M     = 0x07,
-    /* --- Acc --- */
-    CTRL_REG1_A = 0x20,
-    CTRL_REG4_A = 0x23,
-    OUT_X_A     = 0x28,
-    OUT_Y_A     = 0x2A,
-    OUT_Z_A     = 0x2C,
-};
+ #include "LSM303DLH.h"
 
-bool write_reg(int addr_i2c,int addr_reg, char v)
-{
-    char data[2] = {addr_reg, v}; 
-    return LSM303DLH.write(addr_i2c, data, 2) == 0;
-}
-
-bool read_reg(int addr_i2c,int addr_reg, char *v)
-{
-    char data = addr_reg; 
-    if ((LSM303DLH.write(addr_i2c, &data, 1) == 0) && (LSM303DLH.read(addr_i2c, &data, 1) == 0)){
-        *v = data;
-        return true;
-    }
-    return false;
-}
-
-bool read_reg_short(int addr_i2c,int addr_reg, short *v)
-{
-    char *pv = (char *)v;
-    read_reg(addr_i2c,addr_reg+0,pv+1);
-    return read_reg(addr_i2c,addr_reg+1,pv+0);
-}
-
-int main() {
-    char reg_v;
-    bool result;
-    short a_x,a_y,a_z;
-    short m_x,m_y,m_z;
-    double m_deg;
+ Serial debug(USBTX,USBRX);
+ LSM303DLH compass(p28, p27);
 
-    debug.format(8,Serial::None,1);
-    debug.baud(115200);
-    debug.printf("LSM303DLH Test\x0d\x0a");
-
-    /* --- acc --- */
-    reg_v = 0;
-    result = read_reg(addr_acc,CTRL_REG1_A,&reg_v);
-    debug.printf("(%s) CTRL_REG1_A=[0x%02X]\x0d\x0a",(result) ? "OK" : "NG",reg_v);
-
-    reg_v = 0;
-    result = read_reg(addr_mag,CRA_REG_M,&reg_v);
-    debug.printf("(%s) CRA_REG_M=[0x%02X]\x0d\x0a",(result) ? "OK" : "NG",reg_v);
-
-    reg_v = 0;
-    reg_v |= 0x01 << 5;     /* Normal mode  */
-    reg_v |= 0x07;          /* X/Y/Z axis enable. */
-    result = write_reg(addr_acc,CTRL_REG1_A,reg_v);
-    reg_v = 0;
-    result = read_reg(addr_acc,CTRL_REG1_A,&reg_v);
-    debug.printf("(%s) CTRL_REG1_A=[0x%02X]\x0d\x0a",(result) ? "OK" : "NG",reg_v);
-
-    reg_v = 0;
-    reg_v |= 0x01 << 6;     /* 1: data MSB @ lower address */
-    reg_v |= 0x01 << 4;     /* +/- 4g */
-    result = write_reg(addr_acc,CTRL_REG4_A,reg_v);
-
-    /* -- mag --- */
-    reg_v = 0;
-    reg_v |= 0x04 << 2;     /* Minimum data output rate = 15Hz */
-    result = write_reg(addr_mag,CRA_REG_M,reg_v);
-
-    reg_v = 0;
-    //reg_v |= 0x01 << 5;     /* +-1.3Gauss */
-    reg_v |= 0x07 << 5;     /* +-8.1Gauss */
-    result = write_reg(addr_mag,CRB_REG_M,reg_v);
-
-    reg_v = 0;              /* Continuous-conversion mode */
-    result = write_reg(addr_mag,MR_REG_M,reg_v);
-
-    while(1) {
-        read_reg_short(addr_acc,OUT_X_A,&a_x);
-        read_reg_short(addr_acc,OUT_Y_A,&a_y);
-        read_reg_short(addr_acc,OUT_Z_A,&a_z);
-        read_reg_short(addr_mag,OUT_X_M,&m_x);
-        read_reg_short(addr_mag,OUT_Y_M,&m_y);
-        read_reg_short(addr_mag,OUT_Z_M,&m_z);
-        m_deg = (atan2((double)(m_x),(double)(m_y)) * 180) / M_PI;
-        if(m_deg < 0){
-            m_deg = m_deg * -1.0;
-        } else {
-            m_deg = 360.0 - m_deg;
-        }
-
-        debug.printf("ACC:X=%-7d,Y=%-7d,Z=%-7d ",a_x,a_y,a_z);
-        debug.printf("MAG:X=%-7d,Y=%-7d,Z=%-7d DEG=%f\x0d\x0a",m_x,m_y,m_z,m_deg);
-        wait(0.1);
-    }
-}
+ int main() {
+   float hdg;
+   float hdgV;
+   vector acc;
+   vector mag;
+   debug.format(8,Serial::None,1);
+   debug.baud(115200);
+   debug.printf("LSM303DLH Test\x0d\x0a");
+   compass.setOffset(0.00,0.00,0.00); // example calibration
+   compass.setScale(1.00,1.00,1.00);    // example calibration
+   while(1) {
+     compass.read(acc,mag);
+     hdg = compass.heading();
+     hdgV = atan2(acc.y,acc.z) * 180/M_PI;
+     debug.printf("ACC: %6.2f %6.2f %6.2f Heading: %6.2f %6.2f\n",acc.x,acc.y,acc.z,hdgV,hdg);
+     wait(0.1);
+   }
+ }
+ 
\ No newline at end of file